Research On Intelligent Wheelchair Bed Control System

The problem of population aging in China is becoming more and more serious,and there are more and more disabled and semi disabled elderly in the elderly group.Their medical and pension problems need to be solved urgently.Traditional medical care methods require a large number of nursing staff and medical resources,and cannot meet the requirements of Chinese people for the elderly at home.There is an urgent need for an auxiliary nursing device that is highly intelligent and can meet the needs of home care for the elderly.Therefore,this project has developed a new type of intelligent wheelchair bed that can meet the daily use requirements of home care for the elderly.The intelligent wheelchair bed developed in this paper is specially provided for the disabled,semi-disabled and mobility-impaired elderly.It creatively combines the advantages of intelligent wheelchairs and nursing beds to solve the problems of daily care and home care for the elderly.The wheelchair bed body and the bed side cabinet together form all the structures of the intelligent wheelchair bed.The structure of the wheelchair bed body mainly includes a moving mechanism,a bed surface mechanism and a conversion mechanism.The moving mechanism of the wheelchair bed is a mobile platform composed of four mcnamu wheels,which can make the wheelchair bed move in any direction indoors.The deformation platform controls the action of connecting rod and side plate through electric push rod,which can realize the functions of bed and chair conversion and various pose conversion.The bed base platform refers to the nursing bed form of the intelligent wheelchair bed.The seven lifting motors are connected with the lead screw guide rail and the shear fork lifting mechanism,which can realize the functions of turning over and massage of the nursing bed.The bedside cabinet mainly cooperates with the wheelchair bed to perform defecate treatment functions,and the user can independently complete the defecation process through the cooperation of the wheelchair bed and the bedside cabinet.The intelligent wheelchair bed control system developed in this subject adopts upper and lower computers.PC industrial control computer is selected as the upper computer,and Ubuntu 16 is installed in the PC industrial control computer 04 Linux system,the function of the upper computer is to be responsible for the overall control of the intelligent wheelchair bed control system.The lower computer selects STM32 development board as the control unit,which is responsible for receiving the control commands of the upper computer and executing the corresponding control commands,and sends the information collected by the data acquisition module to the upper computer for decision-making processing.The CAN bus is used for communication between the lower computer and the upper computer,and the user realizes the control of the intelligent wheelchair bed through the touch screen,including the tracking movement between the various target places in the room and all the posture transformation functions.In terms of functional realization,the intelligent wheelchair bed of this solution is specially developed for the elderly to care for at home.It combines the functions of the intelligent wheelchair and nursing bed for specific usage scenarios and user groups.The posture transformation functions of back lifting,leg bending,massage and turning over can realize the user’s posture adjustment and play the role of auxiliary rehabilitation training.The defecate processing function allows the user to independently complete the defecation process.The indoor moving function adopts the tracking positioning mode,and continuously detects obstacles in the moving process,so that users can move between multiple indoor targets.For the precise azimuth control of the mobile platform,the fuzzy PID control algorithm is added.Finally,the tracking control algorithm of the mobile platform is studied and verified by simulation and experiment.